Stacking robot for cloth warehouse

Abstract

The invention relates to the technical field of stacking robots, in particular to a cloth warehouse stacking robot which comprises a base, a receiving plate is mounted on the base, moving wheels are mounted at four corners of the bottom of the base, a driving mechanism is fixedly connected to one side, located on the moving wheels, of the base, and a brush wheel is rotatably connected to the driving mechanism. The bottom of the base is fixedly connected with the fixing frame, the supporting mechanism is arranged in the fixing frame in a sliding fit mode, and the anti-overturning supporting legs are arranged on the two sides of the fixing frame in a sliding fit mode. The bottom height is automatically adjusted, wheels are prevented from being clamped, the robot is helped to cross ground obstacles, the capacity of passing through uneven ground is improved, the wheel clamping problem can be solved, the stability, flexibility and energy efficiency can be improved, and the performance of the robot in a warehouse automation system is optimized.

Description

Technical Field

[0001] The present invention relates to the technical field of stacking robots, and in particular to a stacking robot for a fabric warehouse. Background Art

[0002] A stacking robot for a fabric warehouse is an automated device specifically designed for an automated stereoscopic warehouse of fabrics, mainly used for tasks such as storage, handling, stacking, and sorting of fabrics. It can greatly improve the efficiency of automated stereoscopic warehouse management, reduce manual operations, and enhance the accuracy and speed of material storage.

[0003] The prior art document with the publication number CN115158950A provides a stacking robot for a stereoscopic warehouse. By pulling connecting rope one and connecting rope two through a first motor and a second motor, a moving component is driven to move in different directions, which can be applicable to stereoscopic warehouses of different lengths; meanwhile, a longitudinally extending support frame is installed on the base, and a conveying component is driven to move longitudinally by a motor driving a ball screw to lift goods, making it more convenient to use; and the inside of the conveying component includes a lifting frame, where two clamping plates driven by a plurality of electric push rods are installed on the lifting frame. The goods are clamped by the two clamping plates, with higher stability, not easy to fall off, and higher safety; at the same time, the conveying component adjusts the position of the conveying plate through an adjusting wheel to send the goods into the stereoscopic warehouse.

[0004] However, during the movement of the existing stacking robots for fabric warehouses, due to possible height differences on the factory floor, when passing over a higher floor, the wheels are easily blocked, resulting in the robot being unable to smoothly complete handling or stacking operations, causing work stagnation and affecting the overall automation efficiency of the warehouse.

[0005] In summary, the prior art lacks an adjustable moving method for stacking robots in fabric warehouses. Summary of the Invention

[0006] The purpose of the present invention is to solve the drawbacks existing in the background art, and a stacking robot for a fabric warehouse is proposed.

[0007] To achieve the above object, the technical solution adopted by the present invention is: a stacking robot for a fabric warehouse, including a base, a receiving plate is installed on the base, moving wheels are installed at the four corners of the bottom of the base, a driving mechanism is fixedly connected and arranged on one side of the base where the moving wheels are located, a brush wheel is rotatably connected to the driving mechanism, a fixing frame is fixedly connected to the bottom of the base, a supporting mechanism is slidably fitted in the fixing frame, and anti-tipping support feet are slidably fitted on both sides of the fixing frame.

[0008] Preferably, motor bases are fixedly connected to both sides of the material receiving plate. A motor A is fixedly connected to the motor base. A rotating block is fixedly connected to the output end of the motor A. An electric push rod A is fixedly connected to the rotating block. An electric push rod B is fixedly connected to the output end of the electric push rod A. A conical pressing head is fixedly connected to the output end of the electric push rod B.

[0009] Preferably, the driving mechanism includes a fixed seat. One end of the fixed seat is fixedly connected to the base. A U-shaped seat is arranged on one side of the fixed seat. Two guide rods are fixedly connected to the side of the U-shaped seat close to the fixed seat. The guide rods are slidably matched with the fixed seat. A rubber friction wheel is rotatably connected to the U-shaped seat. The rubber friction wheel is in frictional contact with the outer wall of the moving wheel. A driving wheel is fixedly connected to the middle of the rubber friction wheel. A plurality of springs are fixedly connected to one side of the U-shaped seat. The other ends of the springs are fixedly connected to the fixed seat. The function of the springs can ensure that the rubber friction wheel always maintains close contact with the outer wall of the moving wheel, thus ensuring the stability of the driving system. No matter how the moving wheel rotates, the rubber friction wheel can always provide stable friction force, avoiding sliding or skidding phenomena and ensuring the stability of power transmission.

[0010] Preferably, a sleeve rod is fixedly connected to one end of the brush wheel. The sleeve rod is rotatably connected through the fixed seat. A rotating sleeve is slidably matched with one end of the sleeve rod. The rotating sleeve is rotatably connected through the U-shaped seat. A driven wheel is fixedly connected to one end of the rotating sleeve. The driven wheel is in meshing transmission with the driving wheel.

[0011] Preferably, a lead screw is rotatably connected through the fixed frame. One end of the lead screw passes through the fixed frame and is fixedly connected to a motor B. The motor B is fixedly connected to the fixed frame. Fixed racks are fixedly connected to both sides of the fixed frame.

[0012] Preferably, the support mechanism includes a sliding seat. The sliding seat is in threaded connection with the lead screw. Support rod groups are rotatably connected to both sides of the sliding seat. A roller frame is rotatably connected between the other ends of the two support rod groups. Support rollers are rotatably connected to both sides of the bottom end of the roller frame.

[0013] Preferably, transmission racks are fixedly connected to both sides of the sliding seat in a centrosymmetric structure. A universal joint B is fixedly connected to the end of the support rod group connected to the sliding seat. One end of the universal joint B is rotatably connected to the sliding seat. An adjusting wheel is fixedly connected to the other end of the universal joint B. The adjusting wheel is in meshing transmission with the fixed rack. A plurality of tension springs are fixedly connected to the bottom of the sliding seat. The other ends of the tension springs are fixedly connected to the roller frame. The tension springs can drive the roller frame to retract and reset.

[0014] Preferably, the anti-tipping support feet are arranged in a U-shaped structure. Contact wheels are rotatably connected to both ends of one side of the anti-tipping support feet. A sliding frame is fixedly connected to the other side of the anti-tipping support feet. The sliding frame is slidably engaged with the fixed frame, and a threaded rod is threadedly connected to the sliding frame.

[0015] Preferably, one end of the threaded rod is fixedly connected with a universal joint A. The other end of the universal joint A is fixedly connected with a transmission wheel. The transmission wheel is meshed and driven with a transmission rack. One end of the universal joint A close to the transmission wheel is rotatably connected to the fixed frame.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. By arranging an adjustable support mechanism at the bottom of the robot, when encountering a ground height difference, the support mechanism can move towards the higher ground, driving one end of the robot to lift, automatically adjusting the bottom height, avoiding the wheels from being stuck, helping the robot cross ground obstacles, improving the ability to pass through uneven ground, not only solving the problem of wheel jamming, but also enhancing stability, flexibility and energy efficiency, and optimizing the performance of the robot in the warehouse automation system.

[0017] 2. By arranging anti-tipping support feet at both ends of the fabric warehouse stacking robot, when the support mechanism drives one end of the robot to lift and cross the height-difference ground, the anti-tipping support feet automatically extend to support the ground, providing additional support during the tilting movement, preventing tilting or accidents caused by unstable center of gravity. The anti-tipping support feet balance the load distribution by extending and retracting, optimizing the working performance and enhancing the warehouse automation operation ability.

[0018] 3. The setting of the drive mechanism and the brush wheel enables the moving wheels to drive the brush wheel to clean the ground synchronously when rotating, avoiding the influence of sundries jamming the wheels and uneven ground; the adjustable conical pressing head controls the cargo elevator switch by pressing to achieve automatic opening and closing, further improving the independence and automation level of the robot, effectively improving the operation efficiency, stability and safety, reducing manual intervention and operation costs, and strengthening the warehouse automation level. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure of a fabric warehouse stacking robot of the present invention; Figure 2 It is a schematic bottom view of the overall structure of a fabric warehouse stacking robot of the present invention; Figure 3 It is a partial cross-sectional view of the receiving plate structure of a fabric warehouse stacking robot of the present invention; Figure 4 It is a schematic diagram of the drive mechanism and other structures of a fabric warehouse stacking robot of the present invention; Figure 5 It is an expanded schematic diagram of the brush wheel structure of a fabric warehouse stacking robot of the present invention; Figure 6 Structural schematic diagram of a fixing frame and other components of a stacking robot for a fabric warehouse according to the present invention; Figure 7 Structural schematic diagram of a supporting mechanism of a stacking robot for a fabric warehouse according to the present invention; Figure 8 Structural schematic diagram of an anti - tipping support foot of a stacking robot for a fabric warehouse according to the present invention.

[0020] The labels in the figure are: 1, base; 2, receiving plate; 3, moving wheels; 4, driving mechanism; 5, brush wheel; 6, fixing frame; 7, supporting mechanism; 8, anti - tipping support foot; 201, motor A; 202, rotating block; 203, electric push rod A; 204, electric push rod B; 205, conical pressing head; 206, motor base; 401, fixed seat; 402, U - shaped seat; 403, rubber friction wheel; 404, driving wheel; 405, spring; 406, guide rod; 501, sleeve rod; 502, rotating sleeve; 503, driven wheel; 601, lead screw; 602, motor B; 603, fixed rack; 701, sliding seat; 702, strut group; 703, roller frame; 704, supporting roller; 705, transmission rack; 706, universal joint B; 707, adjusting wheel; 708, tension spring; 801, contact wheel; 802, sliding frame; 803, threaded rod; 804, universal joint A; 805, transmission wheel. Detailed implementation manner

[0021] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations.

[0022] As Figures 1 - 8 shown, a stacking robot for a fabric warehouse includes a base 1, a receiving plate 2 is installed on the base 1, moving wheels 3 are installed at the four corners of the bottom of the base 1, a driving mechanism 4 is fixedly connected to one side of the base 1 where the moving wheels 3 are located, a brush wheel 5 is rotatably connected to the driving mechanism 4, a fixing frame 6 is fixedly connected to the bottom of the base 1, a supporting mechanism 7 is slidably fitted inside the fixing frame 6, and anti - tipping support feet 8 are slidably fitted on both sides of the fixing frame 6. Each moving wheel 3 is driven by a separate stepper motor. Stepper motors are widely used in stacking robots due to their precise control capabilities, especially when precise position control is required. A stepper motor allows the robot to move at a fixed stepping angle, ensuring precise stacking.

[0023] As Figure 3As shown in the figure, motor seats 206 are fixedly connected to both sides of the material receiving plate 2. A motor A201 is fixedly connected to the motor seat 206. A rotating block 202 is fixedly connected to the output end of the motor A201. An electric push rod A203 is fixedly connected to the rotating block 202. An electric push rod B204 is fixedly connected to the output end of the electric push rod A203. A conical pressing head 205 is fixedly connected to the output end of the electric push rod B204. Control the motor A201 to drive the connected rotating block 202 to rotate to an appropriate angle, and use the electric push rod A203 to drive the conical pressing head 205 to align with the elevator door opening button or floor button to be pressed, and then use the electric push rod B204 to drive the connected conical pressing head 205 to move to press the elevator door opening button or floor button.

[0024] As Figure 4 shown in the figure, the driving mechanism 4 includes a fixed seat 401. One end of the fixed seat 401 is fixedly connected to the base 1. A U-shaped seat 402 is arranged on one side of the fixed seat 401. Two guide rods 406 are fixedly connected to the side of the U-shaped seat 402 close to the fixed seat 401. The guide rods 406 are slidably matched with the fixed seat 401. A rubber friction wheel 403 is rotatably connected to the U-shaped seat 402. The rubber friction wheel 403 is in frictional contact with the outer wall of the moving wheel 3. A driving wheel 404 is fixedly connected to the middle of the rubber friction wheel 403. A plurality of springs 405 are fixedly connected to one side of the U-shaped seat 402. The other ends of the springs 405 are fixedly connected to the fixed seat 401. When the moving wheel 3 rotates, it will drive the frictionally contacted rubber friction wheel 403 to rotate, so that the rubber friction wheel 403 can drive the driving wheel 404 to rotate.

[0025] As Figure 5 shown in the figure, one end of a brush wheel 5 is fixedly connected to a sleeve rod 501. The sleeve rod 501 is rotatably connected through the fixed seat 401. One end of the sleeve rod 501 is slidably matched with a rotating sleeve 502. The rotating sleeve 502 is rotatably connected through the U-shaped seat 402. A driven wheel 503 is fixedly connected to one end of the rotating sleeve 502. The driven wheel 503 is in meshing transmission with the driving wheel 404. The driving wheel 404 can drive the rotating sleeve 502 connected to the driven wheel 503 to rotate, so that the rotating sleeve 502 drives the brush wheel 5 connected to the sleeve rod 501 to rotate.

[0026] As Figure 6 shown in the figure, a lead screw 601 is rotatably connected through a fixed frame 6. One end of the lead screw 601 passes through the fixed frame 6 and is fixedly connected to a motor B602. The motor B602 is fixedly connected to the fixed frame 6. Fixed racks 603 are fixedly connected to both sides of the fixed frame 6. Use the motor B602 to drive the lead screw 601 to rotate, so that the sliding seat 701 moves towards the higher ground direction.

[0027] As Figure 7As shown in the figure, the support mechanism 7 includes a sliding seat 701, which is threadedly connected to the lead screw 601. Both sides of the sliding seat 701 are rotatably connected with a strut group 702. A roller frame 703 is rotatably connected between the other ends of the two strut groups 702. Both sides of the bottom end of the roller frame 703 are rotatably connected with support rollers 704.

[0028] On both sides of the sliding seat 701, drive racks 705 are fixedly connected in a centrally symmetric structure. One end of the strut group 702 connected to the sliding seat 701 is fixedly connected with a universal joint B706. One end of the universal joint B706 is rotatably connected to the sliding seat 701, and the other end of the universal joint B706 is fixedly connected with an adjusting wheel 707. The adjusting wheel 707 is meshed and driven with the fixed rack 603. A plurality of tension springs 708 are fixedly connected to the bottom of the sliding seat 701, and the other ends of the tension springs 708 are fixedly connected to the roller frame 703. When the adjusting wheel 707 meshes with the fixed rack 603, it will drive the universal joint B706 connected to the adjusting wheel 707 to rotate, so that the universal joint B706 drives the connected strut group 702 to rotate, so that the other end of the strut group 702 can drive the roller frame 703 to move downward, so that the support rollers 704 on the roller frame 703 can contact the ground and lift one end of the robot.

[0029] By providing an adjustable support mechanism 7 at the bottom of the robot, when there is a height difference on the ground, the support mechanism 7 can move towards the higher ground, drive one end of the robot to lift, automatically adjust the bottom height, avoid the moving wheels 3 from being stuck, help the robot cross the ground obstacles, improve the ability to pass through uneven ground, not only solve the problem of wheel jamming, but also improve stability, flexibility and energy efficiency, and optimize the performance of the robot in the warehouse automation system.

[0030] As Figure 8 shown, the anti-tipping support feet 8 are arranged in a U-shaped structure. Contact wheels 801 are rotatably connected to both ends of one side of the anti-tipping support feet 8. A sliding frame 802 is fixedly connected to the other side of the anti-tipping support feet 8. The sliding frame 802 is slidably matched with the fixed frame 6. A threaded rod 803 is threadedly connected to the sliding frame 802.

[0031] One end of the threaded rod 803 is fixedly connected with a universal joint A804. The other end of the universal joint A804 is fixedly connected with a transmission wheel 805. The transmission wheel 805 is meshed and driven with the drive rack 705. One end of the universal joint A804 close to the transmission wheel 805 is rotatably connected to the fixed frame 6. The drive rack 705 on the sliding seat 701 will drive the transmission wheel 805 to rotate, so that the transmission wheel 805 drives the threaded rod 803 connected to the universal joint A804 to rotate, so that the threaded rod 803 can drive the sliding frame 802 to move, so that the sliding frame 802 drives the anti-tipping support feet 8 away from the higher ground direction to move out of the fixed frame 6.

[0032] Working principle: When stacking in the three-dimensional fabric warehouse, first place the fabric using the receiving plate 2, and then drive the moving wheels 3 with a stepping motor to make the moving wheels 3 drive the robot to move. When the moving wheels 3 rotate, they will drive the rubber friction wheels 403 in frictional contact to rotate, enabling the rubber friction wheels 403 to drive the driving wheels 404 to rotate, enabling the driving wheels 404 to drive the rotating sleeve 502 connected to the driven wheel 503 to rotate, enabling the rotating sleeve 502 to drive the brush wheel 5 connected to the sleeve rod 501 to rotate, which can clean the dirt such as stones on the ground that the moving wheels 3 are about to pass through, avoiding jitter or jamming caused by the wheels colliding with obstacles. This can ensure the smooth movement of the robot, avoid unnecessary vibrations or shakes during driving, improve the overall stability, and ensure the accuracy of the stacking position; When there is a ground with a height difference ahead, drive the lead screw 601 to rotate with the motor B602, making the slide block 701 move towards the higher ground. At this time, the transmission rack 705 on the slide block 701 will drive the transmission wheel 805 to rotate, enabling the transmission wheel 805 to drive the threaded rod 803 connected to the universal joint A804 to rotate, enabling the threaded rod 803 to drive the sliding frame 802 to move, enabling the sliding frame 802 to drive the anti-tip support feet 8 away from the higher ground to move out of the fixed frame 6; Then when the adjusting wheel 707 meshes with the fixed rack 603, it will drive the universal joint B706 connected to the adjusting wheel 707 to rotate, enabling the universal joint B706 to drive the connected strut group 702 to rotate, enabling the other end of the strut group 702 to drive the roller frame 703 to move downwards, enabling the support rollers 704 on the roller frame 703 to contact the ground and lift one end of the robot, making the moving wheels 3 close to the higher ground higher than the higher ground. At this time, the two contact wheels 801 on the anti-tip support feet 8 will contact the ground, and then drive the two moving wheels 3 in contact with the ground, so as to be able to push the robot to move, enabling the lifted two moving wheels 3 to move above the higher ground, and then reset the slide block 701, enabling the lifted moving wheels 3 to contact the ground. At this time, the multiple moving wheels 3 rotate, so as to be able to drive the robot to pass through the ground with a height difference; Then when the robot needs to take the freight elevator, the robot identifies the position of the elevator button, controls the motor A201 to drive the connected rotating block 202 to rotate to an appropriate angle, and uses the electric push rod A203 to drive the conical pressing head 205 to align with the elevator door opening button or floor button to be pressed, and then uses the electric push rod B204 to drive the connected conical pressing head 205 to move and press the freight elevator button. The robot can identify the freight elevator button and operate independently, reducing manual intervention and improving the automation level of the entire warehouse. The robot no longer relies on manual operation of the freight elevator and can independently complete tasks of going up and down floors, improving the operation efficiency.

[0033] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0034] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, various changes and improvements will occur to the present invention, and all such changes and improvements fall within the scope of the present invention as claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A fabric warehouse stacking robot, comprising a base (1), characterized in that: A receiving plate (2) is installed on the base (1). Moving wheels (3) are installed at the four corners of the bottom of the base (1). A driving mechanism (4) is fixedly connected to one side of the base (1) where the moving wheels (3) are located. A brush wheel (5) is rotatably connected to the driving mechanism (4). A fixing frame (6) is fixedly connected to the bottom of the base (1). A supporting mechanism (7) is slidably fitted in the fixing frame (6). Anti-tipping support feet (8) are slidably fitted on both sides of the fixing frame (6).

2. The stacking robot for a fabric warehouse according to claim 1, wherein: Motor bases (206) are fixedly connected to both sides of the receiving plate (2). A motor A (201) is fixedly connected to the motor base (206). A rotating block (202) is fixedly connected to the output end of the motor A (201). An electric push rod A (203) is fixedly connected to the rotating block (202). An electric push rod B (204) is fixedly connected to the output end of the electric push rod A (203). A conical pressing head (205) is fixedly connected to the output end of the electric push rod B (204).

3. The stacking robot for a fabric warehouse according to claim 1, characterized in that: The driving mechanism (4) includes a fixed seat (401). One end of the fixed seat (401) is fixedly connected to the base (1). A U-shaped seat (402) is arranged on one side of the fixed seat (401). Two guide rods (406) are fixedly connected to the side of the U-shaped seat (402) close to the fixed seat (401). The guide rods (406) are slidably fitted with the fixed seat (401). A rubber friction wheel (403) is rotatably connected to the U-shaped seat (402). The rubber friction wheel (403) is in frictional contact with the outer wall of the moving wheel (3). A driving wheel (404) is fixedly connected to the middle of the rubber friction wheel (403). A plurality of springs (405) are fixedly connected to one side of the U-shaped seat (402). The other ends of the springs (405) are fixedly connected to the fixed seat (401).

4. The fabric warehouse stacking robot according to claim 3, wherein: A sleeve rod (501) is fixedly connected to one end of the brush wheel (5). The sleeve rod (501) is rotatably connected through the fixed seat (401). A rotating sleeve (502) is slidably fitted at one end of the sleeve rod (501). The rotating sleeve (502) is rotatably connected through the U-shaped seat (402). A driven wheel (503) is fixedly connected to one end of the rotating sleeve (502). The driven wheel (503) is meshed and driven with the driving wheel (404).

5. A fabric warehouse stacking robot according to claim 1, characterized in that: A lead screw (601) is rotatably connected through the fixing frame (6). One end of the lead screw (601) passes through the fixing frame (6) and is fixedly connected to a motor B (602). The motor B (602) is fixedly connected to the fixing frame (6). Fixed racks (603) are fixedly connected to both sides of the fixing frame (6).

6. The fabric warehouse stacking robot according to claim 5, characterized in that: The support mechanism (7) includes a sliding seat (701), the sliding seat (701) is threadedly connected to the lead screw (601), both sides of the sliding seat (701) are rotatably connected with a strut group (702), and a roller frame (703) is rotatably connected between the other ends of the two strut groups (702). Both sides of the bottom end of the roller frame (703) are rotatably connected with support rollers (704).

7. The fabric warehouse stacking robot according to claim 6, characterized in that: On both sides of the sliding seat (701), drive racks (705) are fixedly connected in a central symmetry structure. One end of the strut group (702) connected to the sliding seat (701) is fixedly connected with a universal joint B (706). One end of the universal joint B (706) is rotatably connected to the sliding seat (701), and the other end of the universal joint B (706) is fixedly connected with an adjusting wheel (707). The adjusting wheel (707) is in meshing transmission with the fixed rack (603). A plurality of tension springs (708) are fixedly connected to the bottom of the sliding seat (701), and the other ends of the tension springs (708) are fixedly connected to the roller frame (703).

8. A fabric warehouse stacking robot according to claim 7, characterized in that: The anti - tipping support feet (8) are arranged in a U - shaped structure. Contact wheels (801) are rotatably connected to both ends of one side of the anti - tipping support feet (8). A sliding frame (802) is fixedly connected to the other side of the anti - tipping support feet (8). The sliding frame (802) is in sliding fit with the fixed frame (6), and a threaded rod (803) is threadedly connected to the sliding frame (802).

9. The fabric warehouse stacking robot according to claim 8, characterized in that: One end of the threaded rod (803) is fixedly connected with a universal joint A (804). The other end of the universal joint A (804) is fixedly connected with a transmission wheel (805). The transmission wheel (805) is in meshing transmission with the drive rack (705). One end of the universal joint A (804) close to the transmission wheel (805) is rotatably connected to the fixed frame (6).

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